\select@language {spanish}
\contentsline {chapter}{Introducci\'on}{2}
\contentsline {section}{\numberline {1}UAV, QuadRotor, ?`Qu\'e es eso?}{2}
\contentsline {section}{\numberline {2}?`Por qu\'e un QuadRotor?}{2}
\contentsline {section}{\numberline {3}Principio de funcionamiento}{3}
\contentsline {section}{\numberline {4}Objetivos}{4}
\contentsline {section}{\numberline {5}Limitaciones}{4}
\contentsline {chapter}{Dise\~no}{5}
\contentsline {section}{\numberline {6}Generalidades}{5}
\contentsline {section}{\numberline {7}Hardware}{6}
\contentsline {subsection}{\numberline {7.1}Mec\'anica}{6}
\contentsline {subsubsection}{Estructura}{6}
\contentsline {subsubsection}{H\'elices}{6}
\contentsline {subsubsection}{Motores}{7}
\contentsline {subsubsection}{Paragolpes}{7}
\contentsline {subsection}{\numberline {7.2}Electr\'onica}{8}
\contentsline {subsubsection}{Circuito esquem\'atico}{8}
\contentsline {subsubsection}{Controladores (ESC)}{9}
\contentsline {subsubsection}{$\mu $Controlador}{9}
\contentsline {subsubsection}{Programacion ISP}{9}
\contentsline {subsubsection}{Canales de PWM}{10}
\contentsline {subsubsection}{USART}{10}
\contentsline {subsubsection}{Multiplicador por Hardware}{10}
\contentsline {subsubsection}{Sensor: InertiaCube}{11}
\contentsline {section}{\numberline {8}Software}{11}
\contentsline {subsection}{\numberline {8.1}Comandos de Teclado}{12}
\contentsline {subsection}{\numberline {8.2}Acciones del Joystick}{12}
\contentsline {subsection}{\numberline {8.3}Grabaci\'on y ploteo de resultados}{12}
\contentsline {section}{\numberline {9}Firmware}{12}
\contentsline {subsection}{\numberline {9.1}Generalidades}{12}
\contentsline {subsubsection}{Recepci\'on de datos (USART)}{13}
\contentsline {subsubsection}{Timer0}{14}
\contentsline {subsubsection}{Timer1A}{14}
\contentsline {subsubsection}{Timer1B}{14}
\contentsline {subsection}{\numberline {9.2}Control de Motores}{14}
\contentsline {subsubsection}{Sintetizando}{15}
\contentsline {subsection}{\numberline {9.3}Comunicaci\'on}{15}
\contentsline {subsubsection}{Capa F\'isica}{16}
\contentsline {subsubsection}{Capa Aplicaci\'on}{16}
\contentsline {subsection}{\numberline {9.4}Programa principal: PID}{17}
\contentsline {chapter}{Pruebas}{18}
\contentsline {section}{\numberline {10}Motores}{18}
\contentsline {section}{\numberline {11}PID}{19}
\contentsline {section}{\numberline {12}Paragolpes}{20}
\contentsline {chapter}{Conclusiones}{21}
\contentsline {chapter}{Trabajo futuro}{22}
\contentsline {chapter}{Referencias}{23}
\contentsline {chapter}{\numberline {A}Modificaciones finales}{24}
\contentsline {subsubsection}{Sintetizando}{24}
\contentsline {chapter}{\numberline {B}C\'odigo fuente}{25}
